dart::utils::DartLoader Class Reference

#include <DartLoader.hpp>

Public Types
enum	Flags { NONE = 0 , FIXED_BASE_LINK = 1 << 1 , DEFAULT = NONE }
	Flags for specifying URDF file parsing policies. More...

Public Member Functions
	DartLoader ()
	Constructor with the default ResourceRetriever.
void	addPackageDirectory (const std::string &_packageName, const std::string &_packageDirectory)
	Specify the directory of a ROS package.
dynamics::SkeletonPtr	parseSkeleton (const common::Uri &_uri, const common::ResourceRetrieverPtr &_resourceRetriever=nullptr, unsigned int flags=DEFAULT)
	Parse a file to produce a Skeleton.
dynamics::SkeletonPtr	parseSkeletonString (const std::string &_urdfString, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever=nullptr, unsigned int flags=DEFAULT)
	Parse a text string to produce a Skeleton.
dart::simulation::WorldPtr	parseWorld (const common::Uri &_uri, const common::ResourceRetrieverPtr &_resourceRetriever=nullptr, unsigned int flags=DEFAULT)
	Parse a file to produce a World.
dart::simulation::WorldPtr	parseWorldString (const std::string &_urdfString, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever=nullptr, unsigned int flags=DEFAULT)
	Parse a text string to produce a World.

Private Types
typedef std::shared_ptr< dynamics::BodyNode::Properties >	BodyPropPtr
typedef std::shared_ptr< dynamics::Joint::Properties >	JointPropPtr

Private Member Functions
common::ResourceRetrieverPtr	getResourceRetriever (const common::ResourceRetrieverPtr &_resourceRetriever)

Static Private Member Functions
static dart::dynamics::SkeletonPtr	modelInterfaceToSkeleton (const urdf::ModelInterface *model, const common::Uri &baseUri, const common::ResourceRetrieverPtr &resourceRetriever, unsigned int flags)
	Parses the ModelInterface and spits out a Skeleton object.
static bool	createSkeletonRecursive (const urdf::ModelInterface *model, dynamics::SkeletonPtr skel, const urdf::Link *lk, dynamics::BodyNode *parent, const common::Uri &baseUri, const common::ResourceRetrieverPtr &_resourceRetriever, unsigned int flags)
static bool	addMimicJointsRecursive (const urdf::ModelInterface *model, dynamics::SkeletonPtr _skel, const urdf::Link *_lk)
template<class VisualOrCollision >
static dynamics::ShapePtr	createShape (const VisualOrCollision *_vizOrCol, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever)
	@function createShape
static dynamics::BodyNode *	createDartJointAndNode (const urdf::Joint *_jt, const dynamics::BodyNode::Properties &_body, dynamics::BodyNode *_parent, dynamics::SkeletonPtr _skeleton, unsigned int flgas)
	@function createDartJoint
static bool	createDartNodeProperties (const urdf::Link *_lk, dynamics::BodyNode::Properties &properties, const common::Uri &_baseUri, const common::ResourceRetrieverPtr &_resourceRetriever)
	@function createDartNode
static bool	createShapeNodes (const urdf::ModelInterface *model, const urdf::Link *lk, dynamics::BodyNode *bodyNode, const common::Uri &baseUri, const common::ResourceRetrieverPtr &resourceRetriever)
static Eigen::Isometry3d	toEigen (const urdf::Pose &_pose)
	@function pose2Affine3d
static Eigen::Vector3d	toEigen (const urdf::Vector3 &_vector)
static bool	readFileToString (const common::ResourceRetrieverPtr &_resourceRetriever, const common::Uri &_uri, std::string &_output)
	@function readXml

Private Attributes
common::LocalResourceRetrieverPtr	mLocalRetriever
utils::PackageResourceRetrieverPtr	mPackageRetriever
utils::CompositeResourceRetrieverPtr	mRetriever

Member Typedef Documentation

BodyPropPtr

typedef std::shared_ptr<dynamics::BodyNode::Properties> dart::utils::DartLoader::BodyPropPtr

private

JointPropPtr

typedef std::shared_ptr<dynamics::Joint::Properties> dart::utils::DartLoader::JointPropPtr

private

Member Enumeration Documentation

Flags

enum dart::utils::DartLoader::Flags

Flags for specifying URDF file parsing policies.

Enumerator
NONE
FIXED_BASE_LINK	Parser the root link's joint type to be "fixed" joint when not specified.
DEFAULT	The default flgas.

Constructor & Destructor Documentation

DartLoader()

dart::utils::DartLoader::DartLoader

(

)

Constructor with the default ResourceRetriever.

Member Function Documentation

addMimicJointsRecursive()

bool dart::utils::DartLoader::addMimicJointsRecursive ( const urdf::ModelInterface *  model, dynamics::SkeletonPtr  _skel, const urdf::Link *  _lk  )

staticprivate

addPackageDirectory()

void dart::utils::DartLoader::addPackageDirectory	(	const std::string &	_packageName,
		const std::string &	_packageDirectory
	)

Specify the directory of a ROS package.

In your URDF files, you may see strings with a package URI pattern such as:

"package://my_robot/meshes/mesh_for_my_robot.stl"
 \______/  \______/\___________________________/
     |        |                 |
  package  package   file path with respect to
  keyword   name       the package directory

For us to successfully parse a URDF, we need to be told what the path to the package directory is, using addPackageDirectory(). In this case, suppose the path to the my_robot package is /path/to/my_robot. Then you should use addPackageDirectory("my_robot", "/path/to/my_robot"). Altogether, this implies that a file named "/path/to/my_robot/meshes/mesh_for_my_robot.stl" exists. Whatever you specify as the package directory will end up replacing the 'package keyword' and 'package name' components of the URI string.

createDartJointAndNode()

dynamics::BodyNode * dart::utils::DartLoader::createDartJointAndNode ( const urdf::Joint *  _jt, const dynamics::BodyNode::Properties &  _body, dynamics::BodyNode *  _parent, dynamics::SkeletonPtr  _skeleton, unsigned int  flgas  )

staticprivate

@function createDartJoint

createDartNodeProperties()

bool dart::utils::DartLoader::createDartNodeProperties ( const urdf::Link *  _lk, dynamics::BodyNode::Properties &  properties, const common::Uri &  _baseUri, const common::ResourceRetrieverPtr &  _resourceRetriever  )

staticprivate

@function createDartNode

createShape()

template<class VisualOrCollision >

dynamics::ShapePtr dart::utils::DartLoader::createShape ( const VisualOrCollision *  _vizOrCol, const common::Uri &  _baseUri, const common::ResourceRetrieverPtr &  _resourceRetriever  )

staticprivate

@function createShape

createShapeNodes()

bool dart::utils::DartLoader::createShapeNodes ( const urdf::ModelInterface *  model, const urdf::Link *  lk, dynamics::BodyNode *  bodyNode, const common::Uri &  baseUri, const common::ResourceRetrieverPtr &  resourceRetriever  )

staticprivate

createSkeletonRecursive()

bool dart::utils::DartLoader::createSkeletonRecursive ( const urdf::ModelInterface *  model, dynamics::SkeletonPtr  skel, const urdf::Link *  lk, dynamics::BodyNode *  parent, const common::Uri &  baseUri, const common::ResourceRetrieverPtr &  _resourceRetriever, unsigned int  flags  )

staticprivate

getResourceRetriever()

common::ResourceRetrieverPtr dart::utils::DartLoader::getResourceRetriever ( const common::ResourceRetrieverPtr &  _resourceRetriever )

private

modelInterfaceToSkeleton()

dynamics::SkeletonPtr dart::utils::DartLoader::modelInterfaceToSkeleton ( const urdf::ModelInterface *  model, const common::Uri &  baseUri, const common::ResourceRetrieverPtr &  resourceRetriever, unsigned int  flags  )

staticprivate

Parses the ModelInterface and spits out a Skeleton object.

parseSkeleton()

dynamics::SkeletonPtr dart::utils::DartLoader::parseSkeleton	(	const common::Uri &	_uri,
		const common::ResourceRetrieverPtr &	_resourceRetriever = nullptr,
		unsigned int	flags = DEFAULT
	)

Parse a file to produce a Skeleton.

parseSkeletonString()

dynamics::SkeletonPtr dart::utils::DartLoader::parseSkeletonString	(	const std::string &	_urdfString,
		const common::Uri &	_baseUri,
		const common::ResourceRetrieverPtr &	_resourceRetriever = nullptr,
		unsigned int	flags = DEFAULT
	)

Parse a text string to produce a Skeleton.

parseWorld()

simulation::WorldPtr dart::utils::DartLoader::parseWorld	(	const common::Uri &	_uri,
		const common::ResourceRetrieverPtr &	_resourceRetriever = nullptr,
		unsigned int	flags = DEFAULT
	)

Parse a file to produce a World.

parseWorldString()

simulation::WorldPtr dart::utils::DartLoader::parseWorldString	(	const std::string &	_urdfString,
		const common::Uri &	_baseUri,
		const common::ResourceRetrieverPtr &	_resourceRetriever = nullptr,
		unsigned int	flags = DEFAULT
	)

Parse a text string to produce a World.

readFileToString()

bool dart::utils::DartLoader::readFileToString ( const common::ResourceRetrieverPtr &  _resourceRetriever, const common::Uri &  _uri, std::string &  _output  )

staticprivate

@function readXml

toEigen() [1/2]

Eigen::Isometry3d dart::utils::DartLoader::toEigen ( const urdf::Pose &  _pose )

staticprivate

@function pose2Affine3d

toEigen() [2/2]

Eigen::Vector3d dart::utils::DartLoader::toEigen ( const urdf::Vector3 &  _vector )

staticprivate

Member Data Documentation

mLocalRetriever

common::LocalResourceRetrieverPtr dart::utils::DartLoader::mLocalRetriever

private

mPackageRetriever

utils::PackageResourceRetrieverPtr dart::utils::DartLoader::mPackageRetriever

private

mRetriever

utils::CompositeResourceRetrieverPtr dart::utils::DartLoader::mRetriever

private